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<div class="title">flann_search.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SEARCH_FLANN_SEARCH_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SEARCH_FLANN_SEARCH_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>flann</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classflann_1_1_n_n_index.html">   48</a></span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span><a class="code" href="classflann_1_1_n_n_index.html">NNIndex</a>;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structflann_1_1_l2.html">   49</a></span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structflann_1_1_l2.html">L2</a>;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structflann_1_1_l2___simple.html">L2_Simple</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classflann_1_1_matrix.html">   51</a></span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span><a class="code" href="classflann_1_1_matrix.html">Matrix</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">namespace </span>search</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> FlannDistance=flann::L2_Simple &lt;<span class="keywordtype">float</span>&gt; &gt;</div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html">  101</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_flann_search.html">FlannSearch</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Search</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Search&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Search&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Search&lt;PointT&gt;::sorted_results_</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;FlannSearch&lt;PointT, FlannDistance&gt; &gt; Ptr;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const FlannSearch&lt;PointT, FlannDistance&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Search&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Search&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;flann::Matrix &lt;float&gt; &gt; MatrixPtr;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const flann::Matrix &lt;float&gt; &gt; MatrixConstPtr;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classflann_1_1_n_n_index.html">flann::NNIndex&lt; FlannDistance &gt;</a> <a class="code" href="classflann_1_1_n_n_index.html">Index</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;flann::NNIndex &lt;FlannDistance &gt; &gt; IndexPtr;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_representation.html">pcl::PointRepresentation&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointRepresentation&gt; PointRepresentationPtr;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointRepresentation&gt; PointRepresentationConstPtr;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html">  132</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html">FlannIndexCreator</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html#aa3caf91a33391513e1a61fd0edf6aae6">  139</a></span>&#160;            <span class="keyword">virtual</span> IndexPtr <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html#aa3caf91a33391513e1a61fd0edf6aae6">createIndex</a> (MatrixConstPtr data)=0;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html#ae4c6c8d683f1bea217ea6d19bbcdb291">  143</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html#ae4c6c8d683f1bea217ea6d19bbcdb291">~FlannIndexCreator</a> () {}</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        };</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;FlannIndexCreator&gt; FlannIndexCreatorPtr;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html">  149</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html">KdTreeIndexCreator</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html">FlannIndexCreator</a></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a52c22b3d099ba2e2b831cdecbef44ea0">  156</a></span>&#160;            <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a52c22b3d099ba2e2b831cdecbef44ea0">KdTreeIndexCreator</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_leaf_size=15) : max_leaf_size_ (max_leaf_size){}</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a0dc4f021927184e5b8e4bc07349490e7">  159</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a0dc4f021927184e5b8e4bc07349490e7">~KdTreeIndexCreator</a> () {}</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <span class="keyword">virtual</span> IndexPtr <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a23f84ccc1d536103bf6461ff1d18ed5c">createIndex</a> (MatrixConstPtr data);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <span class="keyword">private</span>:</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_leaf_size_;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        };</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html">  172</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html">KMeansIndexCreator</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html">FlannIndexCreator</a></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a764da2aaf96b17637de27a3125cb5cfb">  179</a></span>&#160;            <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a764da2aaf96b17637de27a3125cb5cfb">KMeansIndexCreator</a> (){}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a0f8717f68aa18680e084cc2bb50bff1a">  182</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a0f8717f68aa18680e084cc2bb50bff1a">~KMeansIndexCreator</a> () {}</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <span class="keyword">virtual</span> IndexPtr <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a7b26f7a7b8b33516fb9f9fbe1b358ba3">createIndex</a> (MatrixConstPtr data);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keyword">private</span>:</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        };</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html">  196</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html">KdTreeMultiIndexCreator</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html">FlannIndexCreator</a></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a4cdeb562cb51a85ac27020d5b28e95f7">  201</a></span>&#160;            <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a4cdeb562cb51a85ac27020d5b28e95f7">KdTreeMultiIndexCreator</a> (<span class="keywordtype">int</span> trees = 4) : trees_ (trees) {}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      </div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a29b55a759e9ce2747665ebc2a98650ee">  204</a></span>&#160;            <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a29b55a759e9ce2747665ebc2a98650ee">~KdTreeMultiIndexCreator</a> () {}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            <span class="keyword">virtual</span> IndexPtr <a class="code" href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a3dc0f0c35dfa3e6f67ee6e307ae2a6d2">createIndex</a> (MatrixConstPtr data);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          <span class="keyword">private</span>:</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            <span class="keywordtype">int</span> trees_;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        };</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html">FlannSearch</a> (<span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>, FlannIndexCreatorPtr creator = FlannIndexCreatorPtr (<span class="keyword">new</span> KdTreeIndexCreator ()));</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#afd1a1ecc0408c7913c3db9f12a5d3adc">~FlannSearch</a> ();</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="comment">//void</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="comment">//setInputCloud (const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices = IndicesConstPtr ());</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#a18af4bfbf20e87b3ffadda8f7a80658d">  229</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a18af4bfbf20e87b3ffadda8f7a80658d">setEpsilon</a> (<span class="keywordtype">double</span> eps)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <a class="code" href="classpcl_1_1search_1_1_flann_search.html#af64f93c1942a9d97a9fdeb0de4573a91">eps_</a> = eps;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#a6d705bda6142a3693044e786579ce8e3">  236</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a6d705bda6142a3693044e786579ce8e3">getEpsilon</a> ()</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1search_1_1_flann_search.html#af64f93c1942a9d97a9fdeb0de4573a91">eps_</a>);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#a7acb950fe0924c9625507336a5e803a9">  245</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a7acb950fe0924c9625507336a5e803a9">setChecks</a> (<span class="keywordtype">int</span> checks)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a5dec43cc88670e39d439a206469a74f9">checks_</a> = checks;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#adf938d819d7546c08f2f0ee086b6e324">  252</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#adf938d819d7546c08f2f0ee086b6e324">getChecks</a> ()</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1search_1_1_flann_search.html#a5dec43cc88670e39d439a206469a74f9">checks_</a>);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#ace2468a9ef6db97f6b8d3c76d5ae9366">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud, <span class="keyword">const</span> IndicesConstPtr&amp; indices = IndicesConstPtr ());</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a9060d79b5308f121289b0787ac44a990">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a9060d79b5308f121289b0787ac44a990">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keywordtype">int</span> k, </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                        std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices, std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a376242567b2cd559d4828715ea600d08">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">double</span> radius, </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                      std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a376242567b2cd559d4828715ea600d08">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keywordtype">double</span> radius, std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices,</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;                std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn=0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#ae70a35ca569955432de38d278a27fd1c">  318</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#ae70a35ca569955432de38d278a27fd1c">setPointRepresentation</a> (<span class="keyword">const</span> PointRepresentationConstPtr &amp;point_representation)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          point_representation_ = point_representation;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          dim_ = point_representation-&gt;getNumberOfDimensions ();</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keywordflow">if</span> (input_) <span class="comment">// re-create the tree, since point_represenation might change things such as the scaling of the point clouds.</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_flann_search.html#ace2468a9ef6db97f6b8d3c76d5ae9366">setInputCloud</a> (input_, indices_);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="keyword">inline</span> PointRepresentationConstPtr <span class="keyword">const</span></div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#aed584d616d25c64e9c373141570ec6a4">  328</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_flann_search.html#aed584d616d25c64e9c373141570ec6a4">getPointRepresentation</a> ()</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          <span class="keywordflow">return</span> (point_representation_);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a1cc587b33e0a9a4e0771d6b69b2028bf">convertInputToFlannMatrix</a>();</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#ac8ba927f93ba7e090dd058b74858767d">  341</a></span>&#160;        IndexPtr <a class="code" href="classpcl_1_1search_1_1_flann_search.html#ac8ba927f93ba7e090dd058b74858767d">index_</a>;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#aaf804d6fa56dc663adc80ed0331a3cf2">  345</a></span>&#160;        FlannIndexCreatorPtr <a class="code" href="classpcl_1_1search_1_1_flann_search.html#aaf804d6fa56dc663adc80ed0331a3cf2">creator_</a>;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#a7d4452a1b0a591bd9a642ec9b932a0b4">  349</a></span>&#160;        MatrixPtr <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a7d4452a1b0a591bd9a642ec9b932a0b4">input_flann_</a>;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#af64f93c1942a9d97a9fdeb0de4573a91">  353</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1search_1_1_flann_search.html#af64f93c1942a9d97a9fdeb0de4573a91">eps_</a>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        </div>
<div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_flann_search.html#a5dec43cc88670e39d439a206469a74f9">  357</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1search_1_1_flann_search.html#a5dec43cc88670e39d439a206469a74f9">checks_</a>;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordtype">bool</span> input_copied_for_flann_;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        PointRepresentationConstPtr point_representation_;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        <span class="keywordtype">int</span> dim_;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        std::vector&lt;int&gt; index_mapping_;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <span class="keywordtype">bool</span> identity_mapping_;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    };</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;}</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_FlannSearch(T) template class PCL_EXPORTS pcl::search::FlannSearch&lt;T&gt;;</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEARCH_KDTREE_H_</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="ttc" id="aclassflann_1_1_matrix_html"><div class="ttname"><a href="classflann_1_1_matrix.html">flann::Matrix</a></div><div class="ttdef"><b>Definition:</b> flann_search.h:51</div></div>
<div class="ttc" id="aclassflann_1_1_n_n_index_html"><div class="ttname"><a href="classflann_1_1_n_n_index.html">flann::NNIndex</a></div><div class="ttdef"><b>Definition:</b> flann_search.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html"><div class="ttname"><a href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a></div><div class="ttdoc">PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...</div><div class="ttdef"><b>Definition:</b> point_representation.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_flann_index_creator_html"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html">pcl::search::FlannSearch::FlannIndexCreator</a></div><div class="ttdoc">Helper class that creates a FLANN index from a given FLANN matrix. To use a FLANN index type with Fla...</div><div class="ttdef"><b>Definition:</b> flann_search.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_flann_index_creator_html_aa3caf91a33391513e1a61fd0edf6aae6"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html#aa3caf91a33391513e1a61fd0edf6aae6">pcl::search::FlannSearch::FlannIndexCreator::createIndex</a></div><div class="ttdeci">virtual IndexPtr createIndex(MatrixConstPtr data)=0</div><div class="ttdoc">Create a FLANN Index from the input data.</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_flann_index_creator_html_ae4c6c8d683f1bea217ea6d19bbcdb291"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_flann_index_creator.html#ae4c6c8d683f1bea217ea6d19bbcdb291">pcl::search::FlannSearch::FlannIndexCreator::~FlannIndexCreator</a></div><div class="ttdeci">virtual ~FlannIndexCreator()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> flann_search.h:143</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_k_means_index_creator_html"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html">pcl::search::FlannSearch::KMeansIndexCreator</a></div><div class="ttdoc">Creates a FLANN KdTreeSingleIndex from the given input data.</div><div class="ttdef"><b>Definition:</b> flann_search.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_k_means_index_creator_html_a0f8717f68aa18680e084cc2bb50bff1a"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a0f8717f68aa18680e084cc2bb50bff1a">pcl::search::FlannSearch::KMeansIndexCreator::~KMeansIndexCreator</a></div><div class="ttdeci">virtual ~KMeansIndexCreator()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> flann_search.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_k_means_index_creator_html_a764da2aaf96b17637de27a3125cb5cfb"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a764da2aaf96b17637de27a3125cb5cfb">pcl::search::FlannSearch::KMeansIndexCreator::KMeansIndexCreator</a></div><div class="ttdeci">KMeansIndexCreator()</div><div class="ttdoc">All FLANN kd trees created by this class will have a maximum of max_leaf_size points per leaf node....</div><div class="ttdef"><b>Definition:</b> flann_search.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_k_means_index_creator_html_a7b26f7a7b8b33516fb9f9fbe1b358ba3"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_k_means_index_creator.html#a7b26f7a7b8b33516fb9f9fbe1b358ba3">pcl::search::FlannSearch::KMeansIndexCreator::createIndex</a></div><div class="ttdeci">virtual IndexPtr createIndex(MatrixConstPtr data)</div><div class="ttdoc">Create a FLANN Index from the input data.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator_html"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html">pcl::search::FlannSearch::KdTreeIndexCreator</a></div><div class="ttdoc">Creates a FLANN KdTreeSingleIndex from the given input data.</div><div class="ttdef"><b>Definition:</b> flann_search.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator_html_a0dc4f021927184e5b8e4bc07349490e7"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a0dc4f021927184e5b8e4bc07349490e7">pcl::search::FlannSearch::KdTreeIndexCreator::~KdTreeIndexCreator</a></div><div class="ttdeci">virtual ~KdTreeIndexCreator()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> flann_search.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator_html_a23f84ccc1d536103bf6461ff1d18ed5c"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a23f84ccc1d536103bf6461ff1d18ed5c">pcl::search::FlannSearch::KdTreeIndexCreator::createIndex</a></div><div class="ttdeci">virtual IndexPtr createIndex(MatrixConstPtr data)</div><div class="ttdoc">Create a FLANN Index from the input data.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator_html_a52c22b3d099ba2e2b831cdecbef44ea0"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_index_creator.html#a52c22b3d099ba2e2b831cdecbef44ea0">pcl::search::FlannSearch::KdTreeIndexCreator::KdTreeIndexCreator</a></div><div class="ttdeci">KdTreeIndexCreator(unsigned int max_leaf_size=15)</div><div class="ttdef"><b>Definition:</b> flann_search.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator_html"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html">pcl::search::FlannSearch::KdTreeMultiIndexCreator</a></div><div class="ttdoc">Creates a FLANN KdTreeIndex of multiple randomized trees from the given input data,...</div><div class="ttdef"><b>Definition:</b> flann_search.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator_html_a29b55a759e9ce2747665ebc2a98650ee"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a29b55a759e9ce2747665ebc2a98650ee">pcl::search::FlannSearch::KdTreeMultiIndexCreator::~KdTreeMultiIndexCreator</a></div><div class="ttdeci">virtual ~KdTreeMultiIndexCreator()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> flann_search.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator_html_a3dc0f0c35dfa3e6f67ee6e307ae2a6d2"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a3dc0f0c35dfa3e6f67ee6e307ae2a6d2">pcl::search::FlannSearch::KdTreeMultiIndexCreator::createIndex</a></div><div class="ttdeci">virtual IndexPtr createIndex(MatrixConstPtr data)</div><div class="ttdoc">Create a FLANN Index from the input data.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator_html_a4cdeb562cb51a85ac27020d5b28e95f7"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search_1_1_kd_tree_multi_index_creator.html#a4cdeb562cb51a85ac27020d5b28e95f7">pcl::search::FlannSearch::KdTreeMultiIndexCreator::KdTreeMultiIndexCreator</a></div><div class="ttdeci">KdTreeMultiIndexCreator(int trees=4)</div><div class="ttdef"><b>Definition:</b> flann_search.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html">pcl::search::FlannSearch</a></div><div class="ttdoc">search::FlannSearch is a generic FLANN wrapper class for the new search interface....</div><div class="ttdef"><b>Definition:</b> flann_search.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a18af4bfbf20e87b3ffadda8f7a80658d"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a18af4bfbf20e87b3ffadda8f7a80658d">pcl::search::FlannSearch::setEpsilon</a></div><div class="ttdeci">void setEpsilon(double eps)</div><div class="ttdoc">Set the search epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> flann_search.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a1cc587b33e0a9a4e0771d6b69b2028bf"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a1cc587b33e0a9a4e0771d6b69b2028bf">pcl::search::FlannSearch::convertInputToFlannMatrix</a></div><div class="ttdeci">void convertInputToFlannMatrix()</div><div class="ttdoc">converts the input data to a format usable by FLANN</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:362</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a376242567b2cd559d4828715ea600d08"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a376242567b2cd559d4828715ea600d08">pcl::search::FlannSearch::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:230</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a5dec43cc88670e39d439a206469a74f9"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a5dec43cc88670e39d439a206469a74f9">pcl::search::FlannSearch::checks_</a></div><div class="ttdeci">int checks_</div><div class="ttdef"><b>Definition:</b> flann_search.h:357</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a6d705bda6142a3693044e786579ce8e3"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a6d705bda6142a3693044e786579ce8e3">pcl::search::FlannSearch::getEpsilon</a></div><div class="ttdeci">double getEpsilon()</div><div class="ttdoc">Get the search epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> flann_search.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a7acb950fe0924c9625507336a5e803a9"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a7acb950fe0924c9625507336a5e803a9">pcl::search::FlannSearch::setChecks</a></div><div class="ttdeci">void setChecks(int checks)</div><div class="ttdoc">Set the number of checks to perform during approximate searches in multiple randomized trees.</div><div class="ttdef"><b>Definition:</b> flann_search.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a7d4452a1b0a591bd9a642ec9b932a0b4"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a7d4452a1b0a591bd9a642ec9b932a0b4">pcl::search::FlannSearch::input_flann_</a></div><div class="ttdeci">MatrixPtr input_flann_</div><div class="ttdef"><b>Definition:</b> flann_search.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_a9060d79b5308f121289b0787ac44a990"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#a9060d79b5308f121289b0787ac44a990">pcl::search::FlannSearch::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:100</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_aaf804d6fa56dc663adc80ed0331a3cf2"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#aaf804d6fa56dc663adc80ed0331a3cf2">pcl::search::FlannSearch::creator_</a></div><div class="ttdeci">FlannIndexCreatorPtr creator_</div><div class="ttdef"><b>Definition:</b> flann_search.h:345</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_ac8ba927f93ba7e090dd058b74858767d"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#ac8ba927f93ba7e090dd058b74858767d">pcl::search::FlannSearch::index_</a></div><div class="ttdeci">IndexPtr index_</div><div class="ttdef"><b>Definition:</b> flann_search.h:341</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_ace2468a9ef6db97f6b8d3c76d5ae9366"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#ace2468a9ef6db97f6b8d3c76d5ae9366">pcl::search::FlannSearch::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:89</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_adf938d819d7546c08f2f0ee086b6e324"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#adf938d819d7546c08f2f0ee086b6e324">pcl::search::FlannSearch::getChecks</a></div><div class="ttdeci">int getChecks()</div><div class="ttdoc">Get the number of checks to perform during approximate searches in multiple randomized trees.</div><div class="ttdef"><b>Definition:</b> flann_search.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_ae70a35ca569955432de38d278a27fd1c"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#ae70a35ca569955432de38d278a27fd1c">pcl::search::FlannSearch::setPointRepresentation</a></div><div class="ttdeci">void setPointRepresentation(const PointRepresentationConstPtr &amp;point_representation)</div><div class="ttdoc">Provide a pointer to the point representation to use to convert points into k-D vectors.</div><div class="ttdef"><b>Definition:</b> flann_search.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_aed584d616d25c64e9c373141570ec6a4"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#aed584d616d25c64e9c373141570ec6a4">pcl::search::FlannSearch::getPointRepresentation</a></div><div class="ttdeci">PointRepresentationConstPtr const getPointRepresentation()</div><div class="ttdoc">Get a pointer to the point representation used when converting points into k-D vectors.</div><div class="ttdef"><b>Definition:</b> flann_search.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_af64f93c1942a9d97a9fdeb0de4573a91"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#af64f93c1942a9d97a9fdeb0de4573a91">pcl::search::FlannSearch::eps_</a></div><div class="ttdeci">float eps_</div><div class="ttdef"><b>Definition:</b> flann_search.h:353</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_flann_search_html_afd1a1ecc0408c7913c3db9f12a5d3adc"><div class="ttname"><a href="classpcl_1_1search_1_1_flann_search.html#afd1a1ecc0408c7913c3db9f12a5d3adc">pcl::search::FlannSearch::~FlannSearch</a></div><div class="ttdeci">virtual ~FlannSearch()</div><div class="ttdoc">Destructor for FlannSearch.</div><div class="ttdef"><b>Definition:</b> flann_search.hpp:81</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructflann_1_1_l2___simple_html"><div class="ttname"><a href="structflann_1_1_l2___simple.html">flann::L2_Simple</a></div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:53</div></div>
<div class="ttc" id="astructflann_1_1_l2_html"><div class="ttname"><a href="structflann_1_1_l2.html">flann::L2</a></div><div class="ttdef"><b>Definition:</b> flann_search.h:49</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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